śhanaiḥ śhanair uparamed buddhyā dhṛiti-gṛihītayā
ātma-sansthaṁ manaḥ kṛitvā na kiñchid api chintayet||25||

Meaning : Through patient and determined effort, calm the mind little by little. Hold it steadily with your intellect, place it in the Self alone, and let go of all other thoughts.

saṅkalpa-prabhavān kāmāns tyaktvā sarvān aśheṣhataḥ
manasaivendriya-grāmaṁ viniyamya samantataḥ||24||

Meaning : A person should completely give up all desires that arise from mental imaginings and thoughts (saṅkalpas), and by using the mind alone, should fully control all the senses from every direction.

taṁ vidyād duḥkha-sanyoga-viyogaṁ yogasaṅjñitam
sa niśhchayena yoktavyo yogo ’nirviṇṇa-chetasā||23||

Meaning : One should know that separation from contact with suffering is called Yoga. That Yoga should be practiced with firm determination and an unwavering, undiscouraged mind.

yaṁ labdhvā chāparaṁ lābhaṁ manyate nādhikaṁ tataḥ
yasmin sthito na duḥkhena guruṇāpi vichālyate||22||

Meaning : Having attained which, a person considers no other gain greater than this, and who, being firmly established in it, is not shaken even by severe sorrow, that is the highest state of Yoga.

yathā dīpo nivāta-stho neṅgate sopamā smṛitā
yogino yata-chittasya yuñjato yogam ātmanaḥ ||19||             

yatroparamate chittaṁ niruddhaṁ yoga-sevayā
yatra chaivātmanātmānaṁ paśhyann ātmani tuṣhyati||20||     

sukham ātyantikaṁ yat tad buddhi-grāhyam atīndriyam
vetti yatra na chaivāyaṁ sthitaśh chalati tattvataḥ||21||

Meaning : Like a lamp placed in a windless spot that does not flicker, so is the mind of the yogi who controls it and engages in yoga. Where the mind, restrained by the practice of yoga, sees the Self by the Self and is satisfied in the Self alone. That highest happiness which transcends the intellect and the senses, is known by one whose mind is steady and does not move from the truth.

yadā viniyataṁ chittam ātmanyevāvatiṣhṭhate
niḥspṛihaḥ sarva-kāmebhyo yukta ityuchyate tadā||18||

Meaning : When the mind is completely controlled and remains focused only on the Self, and the person is free from all desires for worldly pleasures, then they are said to be truly united in Yoga.

nātyaśhnatastu yogo ’sti na chaikāntam anaśhnataḥ
na chāti-svapna-śhīlasya jāgrato naiva chārjuna||16||               

 yuktāhāra-vihārasya yukta-cheṣhṭasya karmasu
yukta-svapnāvabodhasya yogo bhavati duḥkha-hā||17||

Meaning : There is no Yoga for one who eats too much or too little, for one who sleeps too much or too little, and for one who is restless while awake, O Arjuna. ||16||

Yoga is for one who is moderate in eating and recreation, moderate in actions, and moderate in sleeping and waking, such balanced living destroys suffering. ||17||

yuñjann evaṁ sadātmānaṁ yogī niyata-mānasaḥ
śhāntiṁ nirvāṇa-paramāṁ mat-sansthām adhigachchhati||15||

Meaning : A yogi who constantly engages the mind in disciplined meditation on the Self, attains supreme peace and liberation (nirvāṇa),and abides in Me, the Divine presence within.

samaṁ kāya-śhiro-grīvaṁ dhārayann achalaṁ sthiraḥ
samprekṣhya nāsikāgraṁ svaṁ diśhaśh chānavalokayan||13|| 

praśhāntātmā vigata-bhīr brahmachāri-vrate sthitaḥ
manaḥ sanyamya mach-chitto yukta āsīta mat-paraḥ||14||

Meaning : The yogi holds the body, head, and neck evenly and steadily, without any movement. He looks steadily, focusing his gaze gently at the tip of his own nose or just ahead. The yogi, with a peaceful and calm mind, free from fear, established in the vow of celibacy (self-discipline), controls the mind and remains focused on Me (the Divine), being fully united and devoted to Me.

tatraikāgraṁ manaḥ kṛitvā yata-chittendriya-kriyaḥ
upaviśhyāsane yuñjyād yogam ātma-viśhuddhaye||12||

Meaning : True meditation is not just sitting silently—it’s a disciplined act of internal purification. With focused mind, controlled senses, and calm body, the yogi turns inward to cleanse the heart and awaken to their true spiritual nature.